def _build_humanoid(self):
motion_file = self.argparser.parse_string("motion_file")
mocap_data = load_mocap_data(motion_file)
useFixedBase = False
self._humanoid = humanoid_stable_pd.HumanoidStablePD(
self._client, mocap_data, self.timestep, useFixedBase,
self.argparser)
def initialize(self):
if not self._isInitialized:
if self.enable_draw:
if self.render_mode == 'human' or self.render_mode == 'rgb_array':
self._pybullet_client = bullet_client.BulletClient(
connection_mode=p1.GUI)
self._build_camera()
#disable 'GUI' since it slows down a lot on Mac OSX and some other platforms
self._pybullet_client.configureDebugVisualizer(
self._pybullet_client.COV_ENABLE_GUI, 0)
else:
self._pybullet_client = bullet_client.BulletClient()
self._pybullet_client.setAdditionalSearchPath(
pybullet_data.getDataPath())
z2y = self._pybullet_client.getQuaternionFromEuler(
[-math.pi * 0.5, 0, 0])
self._planeId = self._pybullet_client.loadURDF(
"plane_implicit.urdf", [0, 0, 0],
z2y,
useMaximalCoordinates=True)
#print("planeId=",self._planeId)
self._pybullet_client.configureDebugVisualizer(
self._pybullet_client.COV_ENABLE_Y_AXIS_UP, 1)
self._pybullet_client.resetDebugVisualizerCamera(
cameraDistance=3,
cameraYaw=180,
cameraPitch=-35,
cameraTargetPosition=[0, 0, 0])
self._pybullet_client.setGravity(0, -9.8, 0)
self._pybullet_client.setPhysicsEngineParameter(
numSolverIterations=10)
self._pybullet_client.changeDynamics(self._planeId,
linkIndex=-1,
lateralFriction=0.9)
self.set_timer_params()
self._mocapData = motion_capture_data.MotionCaptureData()
motion_file = self.arg_parser.parse_strings("motion_file")
motionPath = pybullet_data.getDataPath() + "/" + motion_file[0]
print("motion_file=", motion_file[0])
self._mocapData.Load(motionPath)
useFixedBase = False
self._humanoid = humanoid_stable_pd.HumanoidStablePD(
self._pybullet_client, self._mocapData, self.update_timestep,
useFixedBase, self.arg_parser)
self._isInitialized = True
self._pybullet_client.setTimeStep(self.update_timestep)
self._pybullet_client.setPhysicsEngineParameter(numSubSteps=1)
self.reset()
self._set_action_space()
action = self.action_space.sample()
observation, _reward, done, _info = self.step(action)
assert not done
self._set_observation_space(observation)
#print("planeId=",planeId)
pybullet_client.configureDebugVisualizer(pybullet_client.COV_ENABLE_Y_AXIS_UP,
1)
pybullet_client.setGravity(0, -9.8, 0)
pybullet_client.setPhysicsEngineParameter(numSolverIterations=10)
mocapData = motion_capture_data.MotionCaptureData()
#motionPath = pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt"
motionPath = pybullet_data.getDataPath(
) + "/data/motions/humanoid3d_backflip.txt"
mocapData.Load(motionPath)
timeStep = 1. / 600
useFixedBase = False
humanoid = humanoid_stable_pd.HumanoidStablePD(pybullet_client, mocapData,
timeStep, useFixedBase)
isInitialized = True
pybullet_client.setTimeStep(timeStep)
pybullet_client.setPhysicsEngineParameter(numSubSteps=2)
timeId = pybullet_client.addUserDebugParameter("time", 0, 10, 0)
def isKeyTriggered(keys, key):
o = ord(key)
if o in keys:
return keys[ord(key)] & pybullet_client.KEY_WAS_TRIGGERED
return False
animating = False
def initialize(self):
if not self._isInitialized:
if self.enable_draw:
self._pybullet_client = bullet_client.BulletClient(
connection_mode=p1.GUI)
#disable 'GUI' since it slows down a lot on Mac OSX and some other platforms
self._pybullet_client.configureDebugVisualizer(
self._pybullet_client.COV_ENABLE_GUI, 0)
else:
self._pybullet_client = bullet_client.BulletClient()
self._pybullet_client.setAdditionalSearchPath(
pybullet_data.getDataPath())
z2y = self._pybullet_client.getQuaternionFromEuler(
[-math.pi * 0.5, 0, 0])
self._planeId = self._pybullet_client.loadURDF(
"plane_implicit.urdf", [0, 0, 0],
z2y,
useMaximalCoordinates=True)
#print("planeId=",self._planeId)
self._pybullet_client.configureDebugVisualizer(
self._pybullet_client.COV_ENABLE_Y_AXIS_UP, 1)
self._pybullet_client.setGravity(0, -9.8, 0)
self._pybullet_client.setPhysicsEngineParameter(
numSolverIterations=10)
self._pybullet_client.changeDynamics(self._planeId,
linkIndex=-1,
lateralFriction=0.9)
self._mocapData = motion_capture_data.MotionCaptureData()
motion_file = self._config["motion_file"]
print("motion_file=", motion_file[0])
motionPath = pybullet_data.getDataPath() + "/" + motion_file[0]
#motionPath = pybullet_data.getDataPath()+"/motions/humanoid3d_backflip.txt"
self._mocapData.Load(motionPath)
timeStep = 1. / 240.
useFixedBase = False
self._humanoid = humanoid_stable_pd.HumanoidStablePD(
self._pybullet_client, self._mocapData, timeStep, useFixedBase,
self._config)
self._isInitialized = True
self._pybullet_client.setTimeStep(timeStep)
self._pybullet_client.setPhysicsEngineParameter(numSubSteps=1)
selfCheck = False
if (selfCheck):
curTime = 0
while self._pybullet_client.isConnected():
self._humanoid.setSimTime(curTime)
state = self._humanoid.getState()
#print("state=",state)
pose = self._humanoid.computePose(
self._humanoid._frameFraction)
for i in range(10):
curTime += timeStep
#taus = self._humanoid.computePDForces(pose)
#self._humanoid.applyPDForces(taus)
#self._pybullet_client.stepSimulation()
time.sleep(timeStep)
self.reset()